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castacks / tartan_drive

Tartan Drive dataset tools and utilities.
http://theairlab.org
MIT License
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Meaning of N_per_step option #3

Closed kajananchinniah closed 1 year ago

kajananchinniah commented 1 year ago

Hi @striest,

I had a quick question regarding the N_per_step option. I'm using the 2021_atv_3.yaml spec with use_vel set to True.

I was wondering how should this option be interpreted. For example, when it's set to 20, I noticed each observation would have 20 datapoints per a timestep. Would this be 20 timesteps stacked together (e.g. 2 s of readings stacked together) or would it be 20 samples from within a particular timestep (e.g. 20 readings that took less 0.1 s to obtain) ?

Thanks!

striest commented 1 year ago

second interpretation - N_per_step divides a model step, i.e. 20 readings would be at 200Hz